DAIR数据集转成KITTI数据集后车头位置有问题

AIR-THU / DAIR-V2X

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DAIR数据集转成KITTI数据集后车头位置有问题 #60

Open Jarvisxize opened 1 year ago

Jarvisxize commented 1 year ago

DAIR的路侧数据转成KITTI数据后通过可视化展示后，发现车头的位置顺时针偏了90度，即车头都变成了车的右侧，这个问题如何解决

Ignite616 commented 1 year ago

我也遇到了相同的问题,请问您怎么解决的

Ignite616 commented 1 year ago

您好，我将gen_kitti/label_json2kitti.py中write_kitti_in_txt()函数的 i15 = str(-eval(item["rotation"])) 修改为 i15 = str(-eval(item["rotation"]) - np.pi/2) i9, i11, i10 = str(item["3d_dimensions"]["h"]),str(item["3d_dimensions"]["w"]),str(item["3d_dimensions"]["l"]) 修改为 i9, i11, i10 = str(item["3d_dimensions"]["h"]),str(item["3d_dimensions"]["l"]),str(item["3d_dimensions"]["w"]) 这两处修改，解决了这个问题。

yaobaishen commented 4 months ago

in my case, the converted kitti format label is NOT on the same horizontal plane with the lidar pointcloud, which leads to the label unusable, anyone see this issue? Screenshot from 2024-04-30 15-05-59

yaobaishen commented 4 months ago

in my case, the converted kitti format label is NOT on the same horizontal plane with the lidar pointcloud, which leads to the label unusable, anyone see this issue?

please ignore this... it's a bug in the visualization tool, not the kitti converter. I have filed an issue in the visualization tool retpo: https://github.com/zzzxxxttt/simple_kitti_visualization/issues/2